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EP3737321A1 - Guidage pour positionner un patient et un robot chirurgical - Google Patents

Guidage pour positionner un patient et un robot chirurgical

Info

Publication number
EP3737321A1
EP3737321A1 EP19738007.4A EP19738007A EP3737321A1 EP 3737321 A1 EP3737321 A1 EP 3737321A1 EP 19738007 A EP19738007 A EP 19738007A EP 3737321 A1 EP3737321 A1 EP 3737321A1
Authority
EP
European Patent Office
Prior art keywords
surgical
user
training
guidance
image data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19738007.4A
Other languages
German (de)
English (en)
Other versions
EP3737321A4 (fr
Inventor
Dwight Meglan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Covidien LP
Original Assignee
Covidien LP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Covidien LP filed Critical Covidien LP
Publication of EP3737321A1 publication Critical patent/EP3737321A1/fr
Publication of EP3737321A4 publication Critical patent/EP3737321A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles

Definitions

  • the command includes a textual command displayed by the HMD.
  • the instructions when executed by the processor, cause the computer to cause the HMD to display an augmented reality image of a position of the at least one organ of the body as superimposed onto the body.
  • computing device 200 determines that the action performed by the user corresponds to the guidance (“Yes” at step S324), processing proceeds to step S326, where computing device 200 generates and causes HMD 120 to display updated guidance indicating whether the user has satisfied the command.
  • computing device may cause HMD 120 to display an augmented reality image indicating the status of the command, e.g., whether the command has been satisfied, a degree of accuracy with which the user’s actions satisfied the command, and/or the training score assessed based on the user’s performance of the action indicated by the command.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Medicinal Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Business, Economics & Management (AREA)
  • Algebra (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Pulmonology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)
  • Processing Or Creating Images (AREA)
  • User Interface Of Digital Computer (AREA)
  • Instructional Devices (AREA)

Abstract

La présente invention concerne des systèmes, des procédés et des supports lisibles par ordinateur pour fournir un guidage pour positionner un corps et un robot chirurgical. Un système donné à titre d'exemple comprend un dispositif de capture d'image configuré pour capturer une image d'un environnement d'entraînement chirurgical et générer des données d'image de l'environnement d'entraînement chirurgical, un visiocasque, et un dispositif informatique configuré pour recevoir un paramètre d'apprentissage chirurgical, recevoir les données d'image de l'environnement d'entraînement chirurgical, détecter une pose de la table et du robot chirurgical, générer un environnement d'entraînement virtuel sur la base de l'environnement d'entraînement chirurgical, déterminer une pose d'un utilisateur par rapport à l'environnement d'entraînement chirurgical, générer un guidage pour positionner un corps sur la table ou le robot chirurgical à proximité du corps, sur la base du paramètre d'apprentissage chirurgical et de la pose déterminée de l'utilisateur, et amener le visiocasque à afficher le guidage généré.
EP19738007.4A 2018-01-10 2019-01-09 Guidage pour positionner un patient et un robot chirurgical Withdrawn EP3737321A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862615495P 2018-01-10 2018-01-10
PCT/US2019/012821 WO2019139935A1 (fr) 2018-01-10 2019-01-09 Guidage pour positionner un patient et un robot chirurgical

Publications (2)

Publication Number Publication Date
EP3737321A1 true EP3737321A1 (fr) 2020-11-18
EP3737321A4 EP3737321A4 (fr) 2021-09-01

Family

ID=67218358

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19738007.4A Withdrawn EP3737321A4 (fr) 2018-01-10 2019-01-09 Guidage pour positionner un patient et un robot chirurgical

Country Status (7)

Country Link
US (2) US11925423B2 (fr)
EP (1) EP3737321A4 (fr)
JP (1) JP2021510224A (fr)
CN (1) CN111670018B (fr)
AU (1) AU2019206392A1 (fr)
CA (1) CA3088004A1 (fr)
WO (1) WO2019139935A1 (fr)

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US11234779B2 (en) * 2019-09-10 2022-02-01 Verb Surgical. Inc. Handheld user interface device for a surgical robot
WO2021133483A1 (fr) * 2019-12-23 2021-07-01 Covidien Lp Système de guidage d'interventions chirurgicales
EP4099915B1 (fr) * 2020-02-06 2025-09-03 Covidien LP Système et procédés de guidage de suture
US12251185B2 (en) * 2020-02-18 2025-03-18 Verb Surgical Inc. Robotic surgical system and method for providing a stadium view with arm set-up guidance
USD1082803S1 (en) 2020-03-30 2025-07-08 Depuy Ireland Unlimited Company Display screen with a graphical user interface
US12004816B2 (en) 2020-03-30 2024-06-11 Depuy Ireland Unlimited Company Robotic surgical apparatus with positioning guide
US12042944B2 (en) 2020-03-30 2024-07-23 Depuy Ireland Unlimited Company Robotic surgical system with graphical user interface
US12343529B2 (en) 2020-03-31 2025-07-01 Novocure Gmbh Methods, systems, and apparatuses for guiding transducer placements for tumor treating fields
US11690674B2 (en) 2020-04-03 2023-07-04 Verb Surgical Inc. Mobile virtual reality system for surgical robotic systems
US20220020219A1 (en) * 2020-07-15 2022-01-20 Orthosoft Ulc Augmented reality bone landmark display
US20210121245A1 (en) * 2020-10-06 2021-04-29 Transenterix Surgical, Inc. Surgeon interfaces using augmented reality
NL2027671B1 (en) * 2021-02-26 2022-09-26 Eindhoven Medical Robotics B V Augmented reality system to simulate an operation on a patient
CN113925607B (zh) * 2021-11-12 2024-02-27 上海微创医疗机器人（集团）股份有限公司 手术机器人操作训练方法、装置、系统、介质及设备
CN115602032B (zh) * 2022-12-13 2023-02-28 深圳智触计算机系统有限公司 基于虚拟现实的消化内镜手术培训系统

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WO2010110560A2 (fr) 2009-03-24 2010-09-30 주식회사 래보 Système de robot chirurgical utilisant la réalité augmentée et procédé de contrôle correspondant
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Also Published As

Publication number Publication date
CN111670018A (zh) 2020-09-15
EP3737321A4 (fr) 2021-09-01
US20200337789A1 (en) 2020-10-29
JP2021510224A (ja) 2021-04-15
CA3088004A1 (fr) 2019-07-18
CN111670018B (zh) 2024-12-27
WO2019139935A1 (fr) 2019-07-18
US11925423B2 (en) 2024-03-12
US12310687B2 (en) 2025-05-27
US20240197419A1 (en) 2024-06-20
AU2019206392A1 (en) 2020-07-23

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